Generation mechanism and control of high-frequency vibration for tracked vehicles

IF 3.4 Q1 ENGINEERING, MECHANICAL 国际机械系统动力学学报(英文) Pub Date : 2022-12-13 DOI:10.1002/msd2.12059
Pingxin Wang, Xiaoting Rui, Feifei Liu, Guoping Wang, Hailong Yu, Bin He, Junjie Gu
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Abstract

A crawler system provides much larger ground contact, leading to excellent terrain adaptability. Due to its structural characteristics, high-frequency vibration proportional to the vehicle speed is generated during the driving process. This is a result of the polygon and rolling effects between the track and the wheels. A field test of a tracked vehicle is performed to monitor movement signals of the chassis and a rocker arm. Their corresponding power spectral density distributions confirm the correctness of the frequency-calculation equation. Then, a novel elastic track tensioning device with a damper is designed as a cushion between the idler and the chassis. Depending on its geometry, the equivalent damping coefficient for a dynamic model is evaluated. Subsequently, the damping is altered in response to different operating conditions by a hybrid damping fuzzy semiactive control system. The controller accounts for both chassis and track vibration. Based on the transfer matrix method for multibody systems, a dynamical model of the track system is developed. Control performances are evaluated using two numerical simulations of obstacle crossing and off-road driving operations. Results indicate that the proposed semiactive tensioner is substantially better than the conventional one. This paper provides a novel feasible scheme for vibration reduction of tracked vehicles.

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履带车辆高频振动的产生机理及控制
履带系统提供了更大的地面接触,从而实现了出色的地形适应性。由于其结构特点,在行驶过程中会产生与车速成比例的高频振动。这是轨道和车轮之间的多边形和滚动效果的结果。对履带车辆进行现场测试,以监测底盘和摇臂的运动信号。它们对应的功率谱密度分布证实了频率计算方程的正确性。然后,设计了一种新型的带阻尼器的弹性轨道张紧装置,作为惰轮和底盘之间的缓冲垫。根据其几何形状,评估动态模型的等效阻尼系数。随后,通过混合阻尼模糊半主动控制系统响应不同的操作条件来改变阻尼。控制器同时考虑底盘和履带的振动。基于多体系统的传递矩阵法,建立了轨道系统的动力学模型。使用两个越障和越野驾驶操作的数值模拟来评估控制性能。结果表明,所提出的半主动张紧器明显优于传统张紧器。本文为履带车辆减振提供了一种新的可行方案。
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